CN104678416B - GNSS-R-based normalized detection method for sea-surface target areas - Google Patents

GNSS-R-based normalized detection method for sea-surface target areas Download PDF

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CN104678416B
CN104678416B CN201510072124.5A CN201510072124A CN104678416B CN 104678416 B CN104678416 B CN 104678416B CN 201510072124 A CN201510072124 A CN 201510072124A CN 104678416 B CN104678416 B CN 104678416B
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CN104678416A (en
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杨东凯
高超群
裘雪敬
朱云龙
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Beihang University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/37—Hardware or software details of the signal processing chain
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/36—Constructional details or hardware or software details of the signal processing chain relating to the receiver frond end
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Signal Processing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention discloses a GNSS-R-based normalized detection method for sea-surface target areas. The method comprises the following steps: step one, scanning and detecting by using a GNSS-R receiver and calculating receiving signals in real time to obtain a reflection signal correlation power value; step two, setting a threshold, invoking a normalized area detection method for judging when the reflection signal correlation power value is larger than the threshold; step three, directly extracting a time delay quantity tMax and a Doppler frequency shift fMax corresponding to a two-dimensional correlation maximum value RPMax when a reflection signal time delay Doppler two-dimensional correlation power is larger than a set threshold RPTr; step four, calculating time delay Doppler two-dimensional correlation values in a Dopper range of (-nKHz+fMax, -nKHz+fMax) which takes 50 Hz as a unit according to a time delay range of (-mtc+tMax, mtc+tMax) which takes 0.1 tc as a unit, and extracting correlation power values RPi except the time delay tMax and Doppler frequency fMax in the area; step five, carrying out normalized analysis on the reflection signal correlation power values RPi extracted in the step four to obtain a value which is as shown in the description; step six, analyzing a ratio of RPmax to the value obtained by the step five to obtain a result.

Description

One kind normalizes detection method based on GNSS-R sea-surface targets region
Technical field
The invention discloses a kind of be based on GNSS-R (Global Navigation Satellite system- Reflection) sea-surface target region normalization detection method, belongs to using GNSS reflected signal remote sensings field.
Background technology
The detection of GNSS reflected signals sea-surface target is the concrete application that ocean surface remote sensing direction is carried out using satellite-signal, It is a kind of passive type double-basis or many base remote sensing technologies, is one of domestic and international remote sensing and field of navigation technology study hotspot.
When GNSS direct signals irradiate sea, countless multiple scattering points are formed in area of glittering, but different scattering points When scattered signal is received by receiver, the time for reaching receiver is different.It can be seen from spread-spectrum signal record principle, scattering The signal different propagation time shows as different code delays, waits delay line to be exactly with identical compared with mirror point reflected signal The curve of the point composition of time delay.Deng delay zone or wait the oval ring area that surrounds of the delay lines such as two that ring retard is definition Domain, it is relevant with receiver sample frequency, i.e. chip resolution.Chip resolution is higher, then the delay zone that waits under the same terms is got over It is intensive.In based on the Ocean Wind-field detection system of GNSS multistatic sonars, airborne or spaceborne receiver and gps satellite have difference Movement velocity, while the height of receiver be likely to change.Therefore, receiver is received sea difference scattering point dissipates Penetrating signal may have different Doppler frequencies, and as the change of satellite parametric reduction and receiving platform kinematic parameter constantly becomes Change, the curve of the point of the surface scattering with identical Doppler frequency composition referred to as waits Doppler's line.
Because reflector space is divided specific time delay value and Doppler frequency value by different grade delay lines and grade Doppler's line Single region is obtained, by setting different time the scope with Doppler frequency shift and interval are postponed, so that it may determined observation area and divide The size of unit is distinguished, and satellite navigation signals carry the physical characteristic of reflecting surface after sea surface reflection, by GNSS-R Hardware receiver is to receiving reflected signal and the information such as delay-Doppler in reflected signal being calculated and is extracted anti-to analyze Penetrate region characteristic.When sea-surface target occurs in reflecting antenna search coverage, due to the appearance of sea-surface target, it is to reflected signal Reflectivity increase, corresponding delay-Doppler two-dimensional correlation power increase, by GNSS-R test platforms GNSS-R sea mesh Mark detection is that reflector space delay-Doppler two-dimensional correlation power is calculated target region, extracts related power most Big value is compared with given threshold, if being more than threshold value, judges have target to occur in reflector space.Due to different wind regime Affect, occur that target does not occur having situation generation of the delay-Doppler two-dimensional correlation power more than threshold value in reflector space, The mistake detection that now needing normalization detection method carries out target is excluded.
The content of the invention
It is an object of the invention to：There is provided a kind of based on GNSS-R sea-surface targets region normalization detection method, utilizing should Method excludes the situation that sea-surface target detection mistiming detection is carried out using GNSS-R.When smooth water area is detected, by Reflectivity in sea is generally close to unanimously, and the reflected signal correlation power value of spaceborne GNSS-R hardware acceptances platform is in identical In time delay and Doppler delay also relatively.When sea has large-scale target to occur, corresponding reflected signal is in the region Reflectivity can increase, and now the power of reflected signal can increase, but due to the difference of sea wind regime, the roughness on sea becomes Greatly, the increase of local reflex signal is will also result in, judges that increasing occurs in target using reflected signal related power maximum so as to give Interference, but when reflection signal power maximum is affected by sea difference wind regime, reflected signal on sea is related around it Performance number also can change, and then little in the surrounding sea reflected signal related power value changes of sea-surface target appearance.When When the reflected signal delay Doppler's two-dimensional correlation power maximum for receiving is more than the situation of given threshold, by delay-Doppler The maximum of two-dimensional correlation power is extracted, and is carried out at the correlation power value in peripheral reflection region according to detection method Reason, reduces detection occurrence number by mistake, and raising carries out the accuracy of sea-surface target detection using GNSS-R.
The technical scheme is that：Regionally detecting is carried out to sea-surface target based on spaceborne GNSS-R hardware receivers.When When sea-surface target occurs, area detection method is normalized to sea by calculation delay Doppler's two-dimensional correlation power utilization sea Target carries out correct detection.
Wherein, spaceborne GNSS-R receivers mainly carry GNSS-R hardware receivers in small satellite platform, constitute GNSS-R Spaceborne test platform.Described GNSS-R hardware receivers by Double RF Front End, high-speed a/d converter, FPGA dedicated correlators, DSP, UART control interfaces and USB control interfaces, the direct projection antenna of high-gain and four high-gains it is anti- Penetrate the composition such as antenna.Relation between them is：Phaselocked loop produces 2456MHz local oscillators letter in piece wherein in Double RF Front End Number, the signal of 880.58MHz is produced after being mixed with the 1575.42MHz signals for receiving；The local oscillation signal of the signal and 927MHz Mixing produces the analog if signal of 46.42MHz.Simultaneously the temperature compensating crystal oscillator of the integrated 10MHz of the module, is back-end digital circuit Reference clock is provided, its reference frequency stability is ± 5 × 10-7, is connected using SMA interfaces with signal transacting rear end, and is realized Physical shielding is isolated, and effectively reduces the interference between frequency analog and digital circuit and noise, signal quality is obtained into one The optimization of step.
Wherein the processing data and result of Double RF Front End module are mainly carried out analog-to-digital conversion by high-speed a/d converter, The FPGA module of the digital data transmission after conversion to rear end and DSP module are carried out into direct projection related channel program related to reflected signal The related power of passage is calculated.
Wherein FPGA dedicated correlators major function includes that direct signal is processed and reflected signal processes two parts, direct projection letter Number treatment channel using traditional advanced-immediately-lag correlation channel design, by the cooperation with DSP complete code and carrier wave with Track, obtains navigator fix solution.Reflected signal treatment channel according to the configuration information of DSP (including reflected signal code delay estimate, Doppler's estimate and corresponding control information) related operation is carried out to reflected signal, obtain code delay-Doppler's two dimension multiple Number correlation, these complex correlation values are uploaded in host computer by USB interface.Simultaneously correlation is through 1s noncoherent accumulation shapes Into two-dimensional correlation performance number, it is uploaded in host computer by UART control interfaces with direct signal result.
Wherein DSP mainly completes fast Acquisition and the tracking of GNSS satellite direct signal, and utilizes The information that direct signal is provided solves navigator fix result, and to the processing mode of reflected signal pattern configurations are carried out.
Serial ports 1 uploads the navigation informations such as the longitude after positioning, latitude and height, 12 passages wherein in UART control interfaces The satellite state information such as satellite number, signal to noise ratio, azimuth and elevation angle；Serial ports 2 upload reflected signal related power numerical value and The related power numerical value of corresponding direct projection satellite-signal.
Wherein USB control interfaces realize the digital intermediate frequency Data acquisition and storage of direct signal and reflected signal, by FPGA Chip is completed jointly with USB chips, and major function includes decoding, packing, data buffering, SECO of A/D quantized datas etc..
Direct projection antenna (direct projection antenna is reception GPS direct signals) therein is multimode dextrorotation antenna, the compatible with GPS (U.S. Global electrical circuiti)/BeiDou (triones navigation system)/GLONASS (Russian Glonass navigation system)/ Galileo (European Galileo satellite navigation system), gain is 3dB, and standing-wave ratio is 2:1,30 ° of field angle.
Reflecting antenna (reflecting antenna is satellite-signals of the GPS after reflection area scattering) therein is four array high-gains Left-handed antenna, compatible with GPS (US Global Position Fixing Navigation System)/BeiDou (triones navigation system)/GLONASS (Russian lattice Luo Nasi navigation system)/Galileo (European Galileo satellite navigation system), gain 18dB, 20 ° of field angle, reflecting antenna is put It is placed in the level of small satellite platform position down, the square intensive placement of four reflecting antennas, so that weak reflection signals connect Receive.
Described small satellite platform refers to low-orbit satellite, is the carrying platform of spaceborne GNSS-R hardware receivers, GNSS-R hardware receivers transmit the reflection signal power of measurement to the communication module of moonlet, and communication module is hard by GNSS-R The data transfer of part receiver is to ground receiver center.
It is of the invention a kind of based on GNSS-R sea-surface targets region normalization detection method, comprise the following steps that：
Step 1：Water area scanning probe is carried out using spaceborne GNSS-R receivers, and will be received by four reflecting antennas Reflected signal calculated in real time in GNSS-R hardware receivers, be calculated reflected signal correlation power value.
Step 2：When sea has large-scale target to occur, reflectivity of the corresponding reflected signal in the region can increase, this When reflected signal power can increase, but due to the difference of sea wind regime, the roughness on sea becomes big, will also result in local anti- Signal increase is penetrated, judges that target occurs increased interference using reflected signal related power maximum so as to give, but when reflection When signal power maximum is affected by sea difference wind regime, reflected signal correlation power value on sea also can become around it Change, and it is then little in the surrounding sea reflected signal related power value changes of sea-surface target appearance.By given threshold, work as reflection When signal correlation power value is more than threshold value, call normalization area detection method to carry out discriminatory analysis, judge what is calculated to reduce Workload.
Step 3：When reflected signal delay Doppler's two-dimensional correlation power is more than given threshold RPTr(judge reflected signal phase Close whether performance number is called to normalize the standard of region method) when, extracting directly two-dimensional correlation maximum RPMaxCorresponding Time delay number τMaxWith Doppler frequency shift fMax。
Step 4：According in time delay [- m τc+τMax, m τc+τMax] (wherein m values are according to τMaxValue carries out momentum change, if τMaxValue is larger, then m values should be as far as possible little, τcWhat is represented is 1 time delay chip, is the base for judging reflected signal in time delay domain Quasi- unit, when inverting is carried out using reflected signal, its detection resolution is mainly by the least unit and Duo Pu of time delay domain Strangle what the least unit on domain was determined, the peripheral region of corresponding time delay value at reflected signal related power maximum is referred at this Domain, the region is divided according to time delay value) in the range of with 0.1 τcIndividual unit, in Doppler [- nKHz+fMax,-nKHz+fMax] (wherein m values are according to fMaxValue carries out momentum change, if fMaxValue is larger, then n values should be as far as possible little, and wherein KHz is referred to 1000Hz, refers in this place the peripheral region of corresponding Doppler frequency value at reflected signal related power maximum, the area Domain is divided according to Doppler frequency value) in the range of with 50Hz units carry out delay-Doppler two-dimensional correlation value calculate, extract It is τ to remove in the region in time delayMaxWith Doppler frequency in fMaxOutside correlation power value RPi。
Step 5：To the reflected signal correlation power value RP extracted in step 4iAnalysis is normalized, is tried to achieve
Step 6：:It is rightRatio be analyzed, if the ratio is very big, judge RPMaxCorresponding position is For the position that sea-surface target occurs, now system is normal to sea-surface target detection, if the value is less, judges now to correspond to RPMaxPosition do not have sea-surface target to occur, if now detection is as by mistake detected, need to reject, do not carry out target acquisition.
It is an advantage of the current invention that：
First, the detection method that the situation for occurring detection by mistake to sea-surface target for spaceborne receiver is rejected, the method is direct The delay-Doppler two-dimensional correlation value exported using original hardware receiver is analyzed, and convenience of calculation and has very strong engineering reality Existing property.
2nd, row region normalized Analysis method is proposed in method, when the delay-Doppler two-dimensional correlation work(of receiver output When rate value is more than given threshold, just extraction and analysis are carried out to the correlation power value in region.
What the 3rd, the region division proposed in method was utilized is the corresponding time delay of related power maximum and Doppler peripheral region Domain, analyzes the characteristics of signals in the region, is respectively a chip and the 1KHz of Doppler frequency in time delay domain, the region model Enclose little, be easy to accurately reject target mistake detection.
4th, normalized value and the phase obtained to correlation power value process in zoning when target occurs is proposed in method Power maximum ratio Analysis are closed, is directly judged whether have target to occur in reflector space according to ratio size, judge mark Quasi- intuitive and convenient.
Description of the drawings
Fig. 1 sea-surface targets detect detection system normal operation schematic diagram
The detection of Fig. 2 sea-surface targets misses the working condition schematic diagram of detection system
Fig. 3 regions of the present invention normalize detection method workflow diagram
Wherein, " GNSS-R " is defined as " Global Navigation Satellite system- in Fig. 1 Reflection ", " Max " is defined as " reflected signal delay Doppler's two-dimensional correlation that spaceborne GNSS-R hardware receivers are received Power maximum ", " Thr " is defined as " alarm threshold value that target occurs ", i.e., when reflected signal correlation power value is more than the value, Region is called to normalize detection method.
Wherein, the definition of the related term in Fig. 2 is identical with Fig. 1.
Wherein, " RP (max) " in Fig. 3 is defined as the " reflected signal delay of the GNSS-R hardware receivers output of extraction Doppler's two-dimensional correlation power maximum ", " RP (TR) " is defined as " judgment threshold of reflected signal related power ", " m " definition For " judging the size of the time delay domain of zoning ", " n " is defined as " judging the size in the Doppler frequency domain of zoning ", " RP (i) " is defined as " the delay-Doppler two-dimensional correlation performance number in the zoning of extraction ", and " RP (i) ' " is defined as " to carrying Delay-Doppler two-dimensional correlation performance number in the zoning of the extraction for taking is normalized the mean value that analysis is obtained ", " RP J () " is defined as " the delay-Doppler two-dimensional correlation performance number in the zoning of extraction being carried out to meet after data shadowing operations The delay-Doppler two-dimensional correlation performance number of established condition ", " RP (j) ' " is defined as " to delay-Doppler two dimension after masking operation First five maximum of correlation power value carries out the mean value that average value processing is obtained ".
Specific embodiment
See Fig. 3, the present invention is a kind of to normalize detection method based on GNSS-R sea-surface targets region, comprises the following steps that：
1. utilize based on the spaceborne hardware receiver of GNSS-R for the region normalization detection method of sea-surface target detection The time delay two-dimensional correlation performance number of output, according to Fig. 1 in normal detection operations situation, calculation delay Doppler's two-dimensional correlation work( Rate maximum RPMax。
2. RP is worked asMax＞ RPTrWhen, then judge have sea-surface target to occur in reflector space.Work as RPMax＜ RPTrWhen, then judge Occur without sea-surface target in reflector space.Because different sea situations can make a big impact to the reflected signal in reflector space, If there is the mistake detection event in Fig. 2, that is, there is RPMax＞ RPTrWhen, but occur without target in reflector space, now need profit Detection by mistake is carried out with region normalization detection method to reject.
3. according to step 2, starting region normalization detection method, the delay-Doppler to the output of GNSS-R hardware receivers Two-dimensional correlation power is stored, extracting directly two-dimensional correlation maximum RPMaxCorresponding time delay number τMaxAnd Doppler frequency shift fMax.According to the τ that step 2 drawsMaxAnd fMax, according in time delay [- m τc+τMax, m τc+τMax] (wherein m values are according to τMaxBe worth into Row momentum change, if τMaxValue it is larger, then m values should be as far as possible little) in the range of with 0.1 τcIndividual unit, in Doppler [- nKHz+ fMax,-nKHz+fMax] (wherein m values are according to fMaxValue carries out momentum change, if fMaxValue is larger, then n values should be as far as possible little) model Delay-Doppler two-dimensional correlation value is carried out with 50Hz units in enclosing to calculate, to extract that remove in time delay be τ in the region inMaxAnd Doppler Frequency is in fMaxOutside correlation power value RPi。
4. the RP for drawing in pair step 3iAnalysis is normalized according to the following formula, is tried to achieve
Cm=(m- (- m))/0.1=20m (1.1)
Cn=((n- (- n)) * 1000)/50=40n (1.2)
5. the reflected signal correlation power value RP for extracting in pair step 4iAnalysis is normalized, is tried to achieve
6. drawn according to step 5To RPiCarry out filtering operation,Shielding is needed to delete, whenThe RP of the condition will be metiIt is designated as RPj, and to RPjCarry out storage operation.Take out RPjIn front 5 maximums, it is and right It is averagely drawnUsing the RP drawn in step 2MaxDraw with step 6Carry out being drawn than Value OperationsTo what is obtainedJudged, ifValue is larger, then illustrate that the position at related power maximum has Target occurs, and the correlation power value occurred with target around position differs larger, ifValue is less, illustrates that related power is maximum Value differs less at position with the related power of surrounding, and related power maximum and peripheral region now are probably by different Sea situation is caused, and the mistake detection caused the fact that similar needs to exclude.The appearance of detection event by mistake is excluded by the method, is protected Card carries out the accuracy of sea-surface target detection using GNSS-R.

Claims (1)

  1. It is 1. a kind of that detection method is normalized based on GNSS-R sea-surface targets region, it is characterised in that：The method is comprised the following steps that：
    Step 1：Water area scanning probe is carried out using spaceborne GNSS-R receivers, and it is anti-by what is received by four reflecting antennas Penetrate signal to be calculated in real time in GNSS-R hardware receivers, be calculated reflected signal correlation power value；
    Step 2：When sea has large-scale target to occur, reflectivity of the corresponding reflected signal in the region can increase, now instead Penetrating the power of signal can increase, and due to the difference of sea wind regime, the roughness on sea becomes big, will also result in the increasing of local reflex signal Greatly, judge that target occurs increased interference using reflected signal related power maximum so as to give；When reflection signal power maximum When value is affected by sea difference wind regime, reflected signal correlation power value on sea also can change around it, and in sea mesh Existing surrounding sea reflected signal related power value changes are marked then less, by given threshold, when reflected signal related power When value is more than threshold value, normalization area detection method is called to carry out discriminatory analysis, to reduce the workload for judging to calculate；
    Step 3：When reflected signal delay Doppler's two-dimensional correlation power is more than given threshold RPTrWhen, extracting directly two-dimensional correlation Power maximum RPMaxCorresponding time delay number τMaxWith Doppler frequency shift fMax；
    Step 4：According in time delay [- m τc+τMax, m τc+τMax] in the range of with 0.1 τcIndividual unit, carries out delay-Doppler two-dimensional phase Close performance number calculate, extract in the region in remove time delay be τMaxWith Doppler frequency in fMaxOutside correlation power value RPi；Its Middle m values are according to τMaxValue carries out momentum change, if τMaxValue is larger, then m values should be as far as possible little, τcWhat is represented is 1 time delay code Piece, is the base for judging reflected signal in time delay domain, and when inverting is carried out using reflected signal, its detection resolution is Determined by the least unit in the least unit and Doppler domain of time delay domain, reflected signal related power is referred at this most The peripheral region of corresponding time delay value at big value, the region is divided according to time delay value；In Doppler [- nKHz+fMax,- nKHz+fMax] in the range of with 50Hz units carry out delay-Doppler two-dimensional correlation performance number calculate, extract in the region in except when Prolong as τMaxWith Doppler frequency in fMaxOutside correlation power value RPi；Wherein n values are according to fMAxValue carries out momentum change, if fMAxValue is larger, then n values should be as far as possible little, and wherein KHz refers to 1000Hz, and reflected signal related power is referred in this place most The peripheral region of corresponding Doppler frequency value at big value, the region is divided according to Doppler frequency value；
    Step 5：To the reflected signal correlation power value RP extracted in step 4iAnalysis is normalized, is tried to achieve
    Step 6：:It is rightRatio be analyzed, if the ratio is very big, judge RPMaxCorresponding position is sea The position that Area Objects occur, now system is normal to sea-surface target detection；If the value is less, judge now to correspond to RPMax's Position does not have sea-surface target to occur, if now detection is as detected by mistake, needs to reject, and does not carry out target acquisition.
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